81 lines
3.7 KiB
Markdown
81 lines
3.7 KiB
Markdown
# Controls
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## Arming
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When armed, the aircraft is ready to fly and the motors will spin when throttle is applied. The motors will
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spin at a slow speed when armed (this feature may be disabled by setting MOTOR_STOP, but for safety reasons,
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that is not recommended).
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By default, arming and disarming is done using stick positions. (NOTE: this feature is disabled when using a
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switch to arm.)
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## Stick Positions
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The three stick positions are:
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|Position | Approx. Channel Input|
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|----------------|----------------------|
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|LOW | 1000 |
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|CENTER | 1500 |
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|HIGH | 2000 |
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The stick positions are combined to activate different functions:
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| Function | Throttle | Yaw | Pitch | Roll |
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| ----------------------------- | -------- | ------- | ------ | ------ |
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| ARM | LOW | HIGH | CENTER | CENTER |
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| DISARM | LOW | LOW | CENTER | CENTER |
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| Profile 1 | LOW | LOW | CENTER | LOW |
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| Profile 2 | LOW | LOW | HIGH | CENTER |
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| Profile 3 | LOW | LOW | CENTER | HIGH |
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| Calibrate Gyro | LOW | LOW | LOW | CENTER |
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| Calibrate Acc | HIGH | LOW | LOW | CENTER |
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| Calibrate Mag/Compass | HIGH | HIGH | LOW | CENTER |
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| Inflight calibration controls | LOW | LOW | HIGH | HIGH |
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| Trim Acc Left | HIGH | CENTER | CENTER | LOW |
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| Trim Acc Right | HIGH | CENTER | CENTER | HIGH |
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| Trim Acc Forwards | HIGH | CENTER | HIGH | CENTER |
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| Trim Acc Backwards | HIGH | CENTER | LOW | CENTER |
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| Disable LCD Page Cycling | LOW | CENTER | HIGH | LOW |
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| Enable LCD Page Cycling | LOW | CENTER | HIGH | HIGH |
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| Save setting | LOW | LOW | LOW | HIGH |
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Download a graphic [cheat sheet](https://multiwii.googlecode.com/svn/branches/Hamburger/MultiWii-StickConfiguration-23_v0-5772156649.pdf) with Tx stick commands (the latest version can always be found
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[here](https://code.google.com/p/multiwii/source/browse/#svn%2Fbranches%2FHamburger)).
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## Yaw control
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While arming/disarming with sticks, your yaw stick will be moving to extreme values. In order to prevent your craft
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from trying to yaw during arming/disarming while on the ground, your yaw input will not cause the craft to yaw when the
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throttle is LOW (i.e. below the `min_check` setting).
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For tricopters, you may want to retain the ability to yaw while on the ground, so that you can verify that your tail
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servo is working correctly before takeoff. You can do this by setting `tri_unarmed_servo` to `1` on the CLI (this is the
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default). If you are having issues with your tail rotor contacting the ground during arm/disarm, you can set this to
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`0` instead. Check this table to decide which setting will suit you:
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<table>
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<tr>
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<th colspan="5">Is yaw control of the tricopter allowed?</th>
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</tr>
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<tr>
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<th></th><th colspan="2">Disarmed</th><th colspan="2">Armed</th>
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</tr>
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<tr>
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<th></th><th>Throttle low</th><th>Throttle normal</th><th>Throttle low</th><th>Throttle normal</th>
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</tr>
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<tr>
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<td rowspan="2">tri_unarmed_servo = 0</td><td>No</td><td>No</td><td>No</td><td>Yes</td>
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</tr>
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<tr>
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<td>No</td><td>No</td><td>No</td><td>Yes</td>
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</tr>
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<tr>
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<td rowspan="2">tri_unarmed_servo = 1</td><td>Yes</td><td>Yes</td><td>Yes</td><td>Yes</td>
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</tr>
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<tr>
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<td>Yes</td><td>Yes</td><td>Yes</td><td>Yes</td>
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</tr>
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</table>
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